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Arduino-controlled 6 Axes Lego Robot — Description
A Lego Robot I built from scratch a while ago.
6 axes + 1 gripper.
Controlled by an Arduino MEGA board, programmed in C++.
I've only used "traditional", old Lego-motors; no such thing as Mindstorms or similar is used.
The motors are piloted by an array of relays, but I'm planning to change these to PWM-controlled switches.

Here's a video of a quick motion-test:
www.youtube.com/watch?v=IRk4kL…

The project still isn't finished, but I thought I'd share it with you